IntensityGradientEstimation estimates the intensity gradient for a point cloud that contains position and intensity values. More...

#include <pcl/features/intensity_gradient.h>

Inheritance diagram for pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >:

Collaboration diagram for pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >:

Public Types
using	Ptr = shared_ptr< IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT > >

using	ConstPtr = shared_ptr< const IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT > >

using	PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut

Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
using	PointCloudN = pcl::PointCloud< PointNT >

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, PointOutT > >

using	ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, PointOutT > >

Public Types inherited from pcl::Feature< PointInT, PointOutT >
using	BaseClass = PCLBase< PointInT >

using	Ptr = shared_ptr< Feature< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > >

using	KdTree = pcl::search::Search< PointInT >

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudOut = pcl::PointCloud< PointOutT >

using	SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>

using	SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>

Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	IntensityGradientEstimation ()
	Empty constructor. More...

void	setNumberOfThreads (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use. More...

Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
	FeatureFromNormals ()
	Empty constructor. More...

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...

PointCloudNConstPtr	getInputNormals () const
	Get a pointer to the normals of the input XYZ point cloud dataset. More...

Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
	Feature ()
	Empty constructor. More...

void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...

PointCloudInConstPtr	getSearchSurface () const
	Get a pointer to the surface point cloud dataset. More...

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...

KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used. More...

double	getSearchParameter () const
	Get the internal search parameter. More...

void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation. More...

int	getKSearch () const
	get the number of k nearest neighbors used for the feature estimation. More...

void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...

double	getRadiusSearch () const
	Get the sphere radius used for determining the neighbors. More...

void	compute (PointCloudOut &output)
	Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	computeFeature (PointCloudOut &output) override
	Estimate the intensity gradients for a set of points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod (). More...

void	computePointIntensityGradient (const pcl::PointCloud< PointInT > &cloud, const pcl::Indices &indices, const Eigen::Vector3f &point, float mean_intensity, const Eigen::Vector3f &normal, Eigen::Vector3f &gradient)
	Estimate the intensity gradient around a given point based on its spatial neighborhood of points. More...

Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
virtual bool	initCompute ()
	This method should get called before starting the actual computation. More...

Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

virtual bool	deinitCompute ()
	This method should get called after ending the actual computation. More...

int	searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

int	searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
IntensitySelectorT	intensity_
	intensity field accessor structure More...

unsigned int	threads_ {0}
	number of threads to be used, default 0 (auto) More...

Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset. More...

Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string	feature_name_
	The feature name. More...

SearchMethodSurface	search_method_surface_
	The search method template for points. More...

PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...

KdTreePtr	tree_
	A pointer to the spatial search object. More...

double	search_parameter_
	The actual search parameter (from either search_radius_ or k_). More...

double	search_radius_
	The nearest neighbors search radius for each point. More...

int	k_
	The number of K nearest neighbors to use for each point. More...

bool	fake_surface_
	If no surface is given, we use the input PointCloud as the surface. More...

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >

IntensityGradientEstimation estimates the intensity gradient for a point cloud that contains position and intensity values.

The intensity gradient at a given point will be a vector orthogonal to the surface normal and pointing in the direction of the greatest increase in local intensity; the vector's magnitude indicates the rate of intensity change.

Author: Michael Dixon

Definition at line 56 of file intensity_gradient.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointNT , typename PointOutT , typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::ConstPtr = shared_ptr<const IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> >

Definition at line 60 of file intensity_gradient.h.

◆ PointCloudOut

template<typename PointInT , typename PointNT , typename PointOutT , typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 69 of file intensity_gradient.h.

◆ Ptr

template<typename PointInT , typename PointNT , typename PointOutT , typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::Ptr = shared_ptr<IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> >

Definition at line 59 of file intensity_gradient.h.

Constructor & Destructor Documentation

◆ IntensityGradientEstimation()

template<typename PointInT , typename PointNT , typename PointOutT , typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::IntensityGradientEstimation ( )

inline

Empty constructor.

Definition at line 72 of file intensity_gradient.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointNT , typename PointOutT , typename IntensitySelectorT >

void pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::computeFeature ( PointCloudOut & output )

overrideprotectedvirtual

Estimate the intensity gradients for a set of points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Parameters

output the resultant point cloud that contains the intensity gradient vectors

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 144 of file intensity_gradient.hpp.

References pcl::PointCloud< PointT >::is_dense, and pcl::isFinite().

◆ computePointIntensityGradient()

template<typename PointInT , typename PointNT , typename PointOutT , typename IntensitySelectorT >

void pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::computePointIntensityGradient	(	const pcl::PointCloud< PointInT > &	cloud,
		const pcl::Indices &	indices,
		const Eigen::Vector3f &	point,
		float	mean_intensity,
		const Eigen::Vector3f &	normal,
		Eigen::Vector3f &	gradient
	)

protected

Estimate the intensity gradient around a given point based on its spatial neighborhood of points.

Parameters

cloud	a point cloud dataset containing XYZI coordinates (Cartesian coordinates + intensity)
indices	the indices of the neighboring points in the dataset
point	the 3D Cartesian coordinates of the point at which to estimate the gradient
mean_intensity
normal	the 3D surface normal of the given point
gradient	the resultant 3D gradient vector

Definition at line 51 of file intensity_gradient.hpp.

References pcl::eigen33().

◆ setNumberOfThreads()

template<typename PointInT , typename PointNT , typename PointOutT , typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::setNumberOfThreads ( unsigned int nr_threads = 0 )

inline

Initialize the scheduler and set the number of threads to use.

Parameters

nr_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 81 of file intensity_gradient.h.

References pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::threads_.

Member Data Documentation

◆ intensity_

template<typename PointInT , typename PointNT , typename PointOutT , typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>

IntensitySelectorT pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::intensity_

protected

intensity field accessor structure

Definition at line 109 of file intensity_gradient.h.

◆ threads_

template<typename PointInT , typename PointNT , typename PointOutT , typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>

unsigned int pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::threads_ {0}

protected

number of threads to be used, default 0 (auto)

Definition at line 111 of file intensity_gradient.h.

Referenced by pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::setNumberOfThreads().

The documentation for this class was generated from the following files:

pcl/features/intensity_gradient.h
pcl/features/impl/intensity_gradient.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>> class pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ IntensityGradientEstimation()

Member Function Documentation

◆ computeFeature()

◆ computePointIntensityGradient()

◆ setNumberOfThreads()

Member Data Documentation

◆ intensity_

◆ threads_

template<typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >